Publications
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- Li, Jiaman, Jiajun Wu, and Karen Liu. “Object Motion Guided Human Motion Synthesis”, ACM Transactions of Graphics (SIGGRAPH Asia) 2023.
- Jiang, Yifeng, Jungdam Won, Yuting Ye, and C. Karen Liu. “DROP: Dynamics Responses from Human Motion Prior and Projective Dynamics”, Proceedings of SIGGRAPH Asia, 2023.
- Chen*, Yuanpei, Chen Wang*, Li Fei-Fei, and C. Karen Liu. “Sequential Dexterity: Chaining Dexterous Policies for Long-Horizon Manipulation”, Conference on Robot Learning (CoRL), 2023.
- Sorokin, Maks, Chuyuan Fu, Jie Tan, C. Karen Liu, Yunfei Bai, Wenhao Yu, Sehoon Ha, and Mohi Khansari. “On Designing a Learning Robot: Improving Morphology for Enhanced Task Performance and Learning”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023.
- Lee, Seunghwan, Yifeng Jiang, and C. Karen Liu. “Anatomically Detailed Simulation of Human Torso”, ACM Transactions of Graphics (SIGGRAPH) 2023.
- Bianco, Nicholas, Steven Collins, C. Karen Liu, and Scott Delp. “Simulating the Effect of Ankle Plantarflexion and Inversion-Eversion Exoskeleton Torques on Center of Mass Kinematics During Walking”, PLOS Computational Biology, 2023.
- Chen, Sirui, Albert Wu, and C. Karen Liu. “Synthesizing Dexterous Nonprehensile Pregrasp for Ungraspable Objects”, ACM SIGGRAPH Conference Proceedings, 2023.
- Tseng, Jonathan, Rodrigo Castellon, and C. Karen Liu. “EDGE: Editable Dance Generation From Music”, Conference on Computer Vision and Pattern Recognition (CVPR) 2023.
- Wang, Kuan-Chieh, Zhenzhen Weng, Maria Xenochristou, Joao Araujo, Jeffrey Gu, C. Karen Liu, and Serena Yeung. “NeMo: 3D Neural Motion Fields from Multiple Video Instances of the Same Action”, Conference on Computer Vision and Pattern Recognition (CVPR), 2023.
- Wang, Weizhuo, Michael Raitor, Steve Collins, C. Karen Liu, and Monroe Kennedy. “Trajectory and Sway Prediction Towards Fall Prevention”, International Conference on Robotics and Automation (ICRA), 2023.
- Araujo, Joao Pedro, Jiaman Li, Karthik Vetrivel, Rishi Agarwal, Deepak Gopinath, Jiajun Wu, Alexander Clegg, and C. Karen Liu. “CIRCLE: Capture In Rich Contextual Environments”, Conference on Computer Vision and Pattern Recognition (CVPR), 2023.
- Li, Jiaman, C. Karen Liu†, and Jiajun Wu†. “Ego-Body Pose Estimation via Ego-Head Pose Estimation”, Conference on Computer Vision and Pattern Recognition (CVPR), 2023.
- Wu, Albert, Michelle Guo, and C. Karen Liu. “Learning Diverse and Physically Feasible Dexterous Grasps With Generative Model and Bilevel Optimization”, Conference on Robot Learning (CoRL), 2022.
- Jiang, Yifeng, Yuting Ye, Deepak Gopinath, Jungdam Won, Alexander Winkler, and C. Karen Liu. “Transformer Inertial Poser: Real-Time Human Motion Reconstruction from Sparse IMUs With Simultaneous Terrain Generation”, Proceedings of SIGGRAPH Asia, 2022.
- Li, Chengshu, Ruohan Zhang, Josiah Wong, Cem Gokmen, Sanjana Srivastava, Roberto Martín-Martín, Chen Wang, Gabrael Levine, Michael Lingelbach, Jiankai Sun, Mona Anvari, Minjune Hwang, Manasi Sharma, Arman Aydin, Dhruva Bansal, Samuel Hunter, Kyu-Young Kim, Alan Lou, Caleb Matthews, Ivan Villa-Renteria, Jerry Tang, Claire Tang, Fei Xia, Silvio Savarese, Hyowon Gweon, C. Karen Liu, Jiajun Wu, and Li Fei-Fei. “BEHAVIOR-1K: A Benchmark for Embodied AI With 1,000 Everyday Activities and Realistic Simulation”, Conference on Robot Learning (CoRL), 2022.
- Chen, Sirui, Keenon Werling, Albert Wu, and C. Karen Liu. “Real-Time Model Predictive Control and System Identification Using Differentiable Physics Simulation”, IEEE Robotics and Automation Letters, 2022.
- Ye, Sifan, Yixing Wang, Jiaman Li, Dennis Park, C. Karen Liu, Huazhe Xu, and Jiajun Wu. “Scene Synthesis from Human Motion”, Proceedings of ACM SIGGRAPH Asia, 2022.
- Zheng, Yang, Yanchao Yang, Kaichun Mo, Jiaman Li, Tao Yu, Yebin Liu, C. Karen Liu, and Leonidas J. Guibas. “GIMO: Gaze-Informed Human Motion Prediction in Context”, European Conference on Computer Vision (ECCV), 2022.
- Erickson, Zackory, Henry Clever, Vamsee Gangaram, Eliot Xing, Greg Turk, C. Karen Liu, and Charles Kemp. “Characterizing Multidimensional Capacitive Servoing for Physical Human-Robot Interaction”, IEEE Transactions on Robotics, 2022.
- Yang, Yanchao, Hanxiang Ren, He Wang, Bokui Shen, Qingnan Fan, Youzi Zheng, C. Karen Liu, and Leonidas Guibas. “ADeLA: Automatic Dense Labeling With Attention for Viewpoint Adaptation in Semantic Segmentation”, Conference on Computer Vision and Pattern Recognition (CVPR), 2022.
- Jiang, Yifeng, Jiazheng Sun, and C. Karen Liu. “Data-Augmented Contact Model for Rigid Body Simulation”, Learning for Dynamics & Control Conference (L4DC), 2022.
- Yang, Yanchao, Yuefan Shen, Youzi Zheng, C. Karen Liu, and Leonidas Guibas. “DCL: Differential Contrastive Learning for Geometry-Aware Depth Synthesis”, IEEE International Conference on Robotics and Automation (RA-L and ICRA), 2022.
- Sorokin, Maks, Jie Tan, C. Karen Liu, and Sehoon Ha. “Learning to Navigate Sidewalks in Outdoor Environments”, IEEE International Conference on Robotics and Automation (RA-L and ICRA), 2022.
- Exarchos, Ioannis, Karen Wang, Brian Do, Fabio Stroppa, Margaret Coad, Allison Okamura, and C. Karen Liu. “Task-Specific Design Optimization and Fabrication for Inflated-Beam Soft Robots With Growable Discrete Joints”, IEEE International Conference on Robotics and Automation (ICRA), 2022.
- Kwiatkowski, Ariel, Eduardo Alvarado, Vicky Kalogeiton, C. Karen Liu, Julien Pettré, Michiel van de Panne, and Marie-Paule Cani. “A Survey on Reinforcement Learning Methods in Character Animation”, EUROGRAPHICS, 2022.
- Srivastava, Sanjana, Chengshu Li, Michael Lingelbach, Roberto Martin-Martin, Fei Xia, Kent Vainio, Zheng Lian, Cem Gokmen, Shyamal Buch, C. Karen Liu, Silvio Savarese, Hyowon Gweon, Jiajun Wu, and Li Fei-Fei. “BEHAVIOR: Benchmark for Everyday Household Activities in Virtual, Interactive, and Ecological Environments”, Conference on Robot Learning (CoRL), 2021.
- Wang, Chen, Claudia Pérez-D’Arpino, Danfei Xu, Li Fei-Fei, C. Karen Liu, and Silvio Savarese. “Co-GAIL Learning Diverse Strategies for Human-Robot Collaboration”, Conference on Robot Learning (CoRL), 2021.
- Li, Chengshu, Fei Xia, Roberto Martin-Martin, Michael Lingelbach, Sanjana Srivastava, Bokui Shen, Kent Vainio, Cem Gokmen, Gokul Dharan, Tanish Jain, Andrey Kurenkov, C. Karen Liu, Hyowon Gweon, Jiajun Wu, Li Fei-Fei, and Silvio Savarese. “IGibson 2.0: Object-Centric Simulation for Robot Learning of Everyday Household Tasks”, Conference on Robot Learning (CoRL), 2021.
- Xu, Zhuo, Wenhao Yu, Alexander Herzog, Wenlong Lu, Chuyuan Fu, Masayoshi Tomizuka, Yunfei Bai, C. Karen Liu, and Daniel Ho. “COCOI: Contact-Aware Online Context Inference for Generalizable Non-Planar Pushing”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021.
- Jiang, Yifeng, Michelle Guo, Jiangshan Li, Ioannis Exarchos, Jiajun Wu, and C. Karen Liu. “DASH: Modularized Human Manipulation Simulation With Vision and Language for Embodied AI”, ACM SIGGRAPH / Eurographics Symposium on Computer Animation (SCA), 2021.
- Babadi, Amin, Michiel van de Panne, C. Karen Liu, and Perttu Hämäläinen. “Learning Task-Agnostic Action Spaces for Movement Optimization ”, IEEE Transactions on Computer Graphics and Visualization, 2021.
- Kumar, Visak, Sehoon Ha, and C. Karen Liu. “Error-Aware Policy Learning: Zero-Shot Generalization in Partially Observable Dynamic Environments”, Robotics Science and Systems (RSS), 2021.
- Werling, Keenon, Dalton Omens, Jeongseok Lee, Ioannis Exarchos, and C. Karen Liu. “Fast and Feature-Complete Differentiable Physics for Articulated Rigid Bodies With Contact”, Robotics: Science and Systems (RSS), 2021.
- Sorokin, Maks, Wenhao Yu, Sehoon Ha, and C. Karen Liu. “Learning Human Search Behavior from Egocentric Visual Inputs”, EUROGRAPHICS 2021.
- Exarchos, Ioannis, Yifeng Jiang, Wenhao Yu, and C. Karen Liu. “Policy Transfer via Kinematic Domain Randomization and Adaptation”. IEEE International Conference on Robotics and Automation (ICRA), 2021, May 2021.
- Yu, Wenhao, Greg Turk, and C. Karen Liu. “Protective Policy Transfer”, IEEE International Conference on Robotics and Automation (ICRA), 2021.
- Jiang, Yifeng, Tingnan Zhang, Daniel Ho, Yunfei Bai, C. Karen Liu, Sergey Levine, and Jie Tan. “SimGAN: Hybrid Simulator Identification for Domain Adaptation via Adversarial Reinforcement Learning”, IEEE International Conference on Robotics and Automation (ICRA), 2021.
- Liu, C. Karen, and Dan Negrut. “The Role of Physics-Based Simulators in Robotics”, Annual Review of Control, Robotics, and Autonomous Systems, 2021.
- Kumar, K. Niranjan, Irfan Essa, Sehoon Ha, and C. Karen Liu. “Estimating Mass Distribution of Articulated Objects Using Non-Prehensile Manipulation”, NeurIPS Object Representations for Learning and Reasoning Workshop, 2020.
- Zhang, Yunbo, Wenhao Yu, C. Karen Liu, Charlie Kemp, and Greg Turk. “Learning to Manipulate Amorphous Materials”, ACM Transactions of Graphics (SIGGRAPH Asia), 2020.
- Hamalainen, Perttu, Juuso Toikka, Amin Babadi, and C. Karen Liu. “Visualizing Movement Control Optimization Landscapes”, IEEE Transactions on Visualization and Computer Graphics (TVCG), 2020.
- Clever, Henry, Zackory Erickson, Ariel Kapusta, Greg Turk, C. Karen Liu, and Charlie Kemp. “Bodies at Rest: 3D Human Pose and Shape Estimation from a Pressure Image Using Synthetic Data”, IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2020.
- Erickson, Zackory, Vamsee Gangaram, Ariel Kapusta, C. Karen Liu, and Charles Kemp. “Assistive Gym: A Physics Simulation Framework for Assistive Robotics”, IEEE International Conference on Robotics and Automation (ICRA), 2020.
- Kumar, Visak, Sehoon Ha, Gregory Sawicki, and C. Karen Liu. “Learning a Control Policy for Fall Prevention on an Assistive Walking Device”, IEEE International Conference on Robotics and Automation (ICRA), 2020.
- Clegg, Alexander, Zackory Erickson, Patrick Grady, Greg Turk, Charles Kemp, and C. Karen Liu. “Learning to Collaborate from Simulation for Robot-Assisted Dressing”, IEEE Robotics and Automation Letters (RA-L and ICRA), 2020.
- Yu, Wenhao, Visak Kumar, Greg Turk, and C. Karen Liu. “Sim-to-Real Transfer for Biped Locomotion”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019.
- Jiang, Yifeng, Tom Van Wouwe, Friedl De Groote, and C. Karen Liu. “Synthesis of Biologically Realistic Human Motion Using Joint Torque Actuation”. ACM Transactions on Graphics (Proceedings of SIGGRAPH), 2019, July 2019.
- Kapusta, Ariel, Zackory Erickson, Henry Clever, Wenhao Yu, C. Karen Liu, Greg Turk, and Charles Kemp. “Personalize Collaborative Plans for Robot-Assisted Dressing via Optimization and Simulation”, Autonomous Robots, 2019.
- Yu, Wenhao, C. Karen Liu, and Greg Turk. “Policy Transfer With Strategy Optimization”, International Conference on Learning Representations (ICLR), 2019.
- Clegg, Alexander, Wenhao Yu, Jie Tan, C. Karen Liu, and Greg Turk. “Learning To Dress: Synthesizing Human Dressing Motion via Deep Reinforcement Learning”, Transactions on Graphics (SIGGRAPH Asia), 2018.
- Kumar, Visak, Sehoon Ha, and C. Karen Liu. “Expanding Motor Skills through Relay Neural Networks”, Conference on Robot Learning (CoRL), 2018.
- Yu, Wenhao, Greg Turk, and C. Karen Liu. “Learning Symmetric and Low-Energy Locomotion”, ACM Transactions on Graphics (SIGGRAPH), 2018.
- Jiang, Yifeng, and C. Karen Liu. “Data-Driven Approach to Simulating Realistic Human Joint Constraints”, IEEE International Conference on Robotics and Automation (ICRA), 2018.
- Erickson, Zackory, Henry Clever, Greg Turk, C. Karen Liu, and Charles Kemp. “Deep Haptic Model Predictive Control for Robot-Assisted Dressing”, IEEE International Conference on Robotics and Automation (ICRA), 2018.
- Lee, Jeongseok, Michael Grey, Sehoon Ha, Tobias Kunz, Sumit Jain, Yuting Ye, Siddhartha Srinivasa, Mike Stillman, and C. Karen Liu. “DART: Dynamic Animation and Robotics Toolkit”.
- Kumar, Visak, Sehoon Ha, and C. Karen Liu. “Learning a Unified Control Policy for Safe Falling”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017.
- Clegg, Alexander, Wenhao Yu, Zackory Erickson, C. Karen Liu, and Greg Turk. “Learning to Navigate Cloth Using Haptics”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017.
- Sun, Yun, Sehoon Ha, Hsiang Hsu, Lena Ting, and C. Karen Liu. “Stair Negotiation Made Easier Using Novel Interactive Energy-Recycling Assistive Stairs”, PLOS ONE, 2017.
- Yu, Wenhao, Jie Tan, C. Karen Liu, and Greg Turk. “Preparing for the Unknown: Learning a Universal Policy With Online System Identification”, Robotics: Science and Systems (RSS), 2017.
- Grey, Michael, Aaron Ames, and C. Karen Liu. “Probabilistic Completeness of Randomized Possibility Graphs for Bipedal Walking in Semi-Unstructured Environments”, Robotics Science and Systems (RSS), 2017.
- Xie, Zhaoming, C. Karen Liu, and Kris Hauser. “Differential Dynamic Programming With Nonlinear Constraints”, IEEE International Conference on Robotics and Automation (ICRA), 2017.
- Grey, Michael, Aaron Ames, and C. Karen Liu. “Footstep and Motion Planning in Semi-Unstructured Environments Using Randomized Possibility Graphs”, IEEE International Conference on Robotics and Automation (ICRA), 2017.
- Yu, Wenhao, Ariel Kapusta, Charles Kemp, Greg Turk, and C. Karen Liu. “Haptic Data Simulation for Robot-Assisted Dressing”, IEEE International Conference on Robotics and Automation (ICRA), 2017.
- Erickson, Zackory, Alexander Clegg, Wenhao Yu, Creg Turk, C. Karen Liu, and Charles Kemp. “What Does the Person Feel? Learning to Infer Applied Forces During Robot-Assisted Dressing”, IEEE International Conference on Robotics and Automation (ICRA), 2017.
- Lee, Jeongseok, C. Karen Liu, Frank Park, and Siddhartha Srinivasa. “A Linear-Time Variational Integrator for Multibody Systems”, Workshop on the Algorithmic Foundations of Robotics (WAFR), 2016.
- Liu, Shiqiu, Adam Smith, Yuting Gu, Jie Tan, C. Karen Liu, and Greg Turk. “Computer Simulations Imply Forelimb-Dominated Underwater Flight in Plesiosaurs”, PLoS Computational Biology, 2016.
- Bai, Yunfei, Wenhao Yu, and C. Karen Liu. “Dexterous Manipulation of Cloth”, Computer Graphics Forum (Eurographics), 2016.
- Grey, Michael, Caelan Garrett, C. Karen Liu, Aaron Ames, and Andrea Thomaz. “Humanoid Manipulation Planning Using Backward-Forward ”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016.
- Tan, Jie, Zhaoming Xie, Byron Boots, and C. Karen Liu. “Simulation-Based Design of Dynamic Controllers for Humanoid Balancing”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016.
- Bai, Yunfei, Danny Kaufman, C. Karen Liu, and Jovan Popovic. “Artist-Directed Dynamics for 2D Animation”, ACM Transactions on Graphics (SIGGRAPH), 2016.
- Kapusta, Ariel, Wenhao Yu, Tapomayukh Bhattacharjee, C. Karen Liu, Greg Turk, and Charles Kemp. “Data-Driven Haptic Perception for Robot-Assisted Dressing”, IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), 2016.
- Ha, Sehoon, and C. Karen Liu. “Evolutionary Optimization for Parameterized Whole-Body Dynamic Motor Skills”, IEEE International Conference on Robotics and Automation (ICRA) 2016.
- Ha, Sehoon, and C. Karen Liu. “Multiple Contact Planning for Minimizing Damage of Humanoid Falls”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015.
- Clegg, Alexander, Jie Tan, Greg Turk, and C. Karen Liu. “Animating Human Dressing”, ACM Transactions on Graphics (SIGGRAPH), 2015.
- Hamalainen, Perttu, Joose Rajamaki, and C. Karen Liu. “Online Control of Simulated Humanoids Using Particle Belief Propagation”, ACM Transactions on Graphics (SIGGRAPH), 2015.
- Zhang, Peizhao, Kristin Siu, Jianjie Zhang, C. Karen Liu, and Jinxiang Chai. “Leveraging Depth Cameras and Wearable Pressure Sensors for Full-Body Kinematics and Dynamics Capture”, ACM Transactions on Graphics (SIGGRAPH Asia), 2014.
- Bai, Yunfei, and C. Karen Liu. “Coupling Cloth and Rigid Bodies for Dexterous Manipulation”, ACM SIGGRAPH Conference on Motion, Interaction and Games, 2014.
- Bingham, Jeffrey, Jeongseok Lee, Ravi Haksar, Jun Ueda, and C. Karen Liu. “Orienting in Mid-Air through Configuration Changes to Achieve a Rolling Landing for Reducing Impact After a Fall”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2014.
- Tan, Jie, Yuting Gu, C. Karen Liu, and Greg Turk. “Learning Bicycle Stunts”, ACM Transactions on Graphics (SIGGRAPH), 2014.
- Bai, Yunfei, and C. Karen Liu. “Dexterous Manipulation Using Both Palm and Fingers”, IEEE International Conference on Robotics and Automation (ICRA), 2014.
- Ha, Sehoon, and C. Karen Liu. “Iterative Training Of Dynamic Skills Inspired By Human Coaching Techniques”, ACM Transactions on Graphics, 2014.
- Gielniak, Michael, C. Karen Liu, and Andrea Thomaz. “Generating Human-Like Motion for Robots”, The International Journal of Robotics Research (IJRR), 2013.
- Ha, Sehoon, Jim McCann, C. Karen Liu, and Jovan Popovic. “Physics Storyboards”, Computer Graphics Forum (Eurogrphics), 2013.
- Ha, Sehoon, Yuting Ye, and C. Karen Liu. “Falling and Landing Motion Control for Character Animation”, ACM Transactions on Graphics (SIGGRAPH Asia), 2012.
- Bai, Yunfei, Kristin Siu, and C. Karen Liu. “Synthesis of Concurrent Object Manipulation Tasks”, ACM Transactions on Graphics (SIGGRAPH Asia), 2012.
- Tan, Jie, Greg Turk, and C. Karen Liu. “Soft Body Locomotion”, ACM Transactions on Graphics (SIGGRAPH), 2012.
- Ye, Yuting, and C. Karen Liu. “Synthesis of Detailed Hand Manipulations Using Contact Sampling”, ACM Transactions on Graphics (SIGGRAPH), 2012.
- Jain, Sumit, and C. Karen Liu. “Controlling Physics-Based Characters Using Soft Contacts”, ACM Transactions on Graphics (SIGGRAPH Asia), 2011.
- Jain, Sumit, and C. Karen Liu. “Modal-Space Control for Articulated Characters”, ACM Transactions on Graphics, 2011.
- Tan, Jie, Yuting Gu, Greg Turk, and C. Karen Liu. “Articulated Swimming Creatures”, ACM Transactions on Graphics (SIGGRAPH), 2011.
- Ha, Sehoon, Yunfei Bai, and C. Karen Liu. “Human Motion Reconstruction from Force Sensors”, ACM SIGGRAPH/Eurographics Symposium on Computer Animation (SCA) 2011.
- Tan, Jie, C. Karen Liu, and Greg Turk. “Stable Proportional-Derivative Controllers”, IEEE Computer Graphics and Applications (CG&A) 2011.
- Gielniak, Michael, C. Karen Liu, and Andrea Thomaz. “Task-Aware Variations”, IEEE International Conference on Robotics and Automation (ICRA), 2011.
- Ye, Yuting, and C. Karen Liu. “Synthesis of Responsive Motion Using a Dynamic Model”, Computer Graphics Forum (Eurographics), 2010.
- Gielniak, Michael, C. Karen Liu, and Andrea Thomaz. “Secondary Action in Robot Motion”, IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), 2010.
- Gielniak, Michael, C. Karen Liu, and Andrea Thomaz. “Stylized Motion Generalization Through Adaptation of Velocity Profile”, IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), 2010.
- Liu, C. Karen. “Dextrous Manipulation from a Grasping Pose”, ACM Transactions on Graphics (SIGGRAPH), 2009.
- Jain, Sumit, and C. Karen Liu. “Interactive Synthesis of Human-Object Interaction”, ACM SIGGRAPH/Eurographics Symposium on Computer Animation (SCA), 2009.
- Ishigaki, Satoru, Timothy White, Victor Zordan, and C. Karen Liu. “Performance-Based Control Interface for Character Animation”, ACM Transactions on Graphics (SIGGRAPH), 2009.
- Jain, Sumit, Yuting Ye, and C. Karen Liu. “Optimization-Based Interactive Motion Synthesis”, ACM Transactions on Graphics, 2009.